external_packages/qpOASES-3.2.0/include/qpOASES/MessageHandling.hpp

Go to the documentation of this file.

/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
 *      Christian Kirches et al. All rights reserved.
 *
 *      qpOASES is free software; you can redistribute it and/or
 *      modify it under the terms of the GNU Lesser General Public
 *      License as published by the Free Software Foundation; either
 *      version 2.1 of the License, or (at your option) any later version.
 *
 *      qpOASES is distributed in the hope that it will be useful,
 *      but WITHOUT ANY WARRANTY; without even the implied warranty of
 *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 *      See the GNU Lesser General Public License for more details.
 *
 *      You should have received a copy of the GNU Lesser General Public
 *      License along with qpOASES; if not, write to the Free Software
 *      Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef QPOASES_MESSAGEHANDLING_HPP
#define QPOASES_MESSAGEHANDLING_HPP


#include <stdio.h>
#include <string.h>

#ifdef __DEBUG__
#include <assert.h>
#endif

#include <qpOASES/Constants.hpp>


BEGIN_NAMESPACE_QPOASES


extern FILE* stdFile;


enum returnValue
{
TERMINAL_LIST_ELEMENT = -1,                                             
/* miscellaneous */
SUCCESSFUL_RETURN = 0,                                                  
RET_DIV_BY_ZERO,                                                                
RET_INDEX_OUT_OF_BOUNDS,                                                
RET_INVALID_ARGUMENTS,                                                  
RET_ERROR_UNDEFINED,                                                    
RET_WARNING_UNDEFINED,                                                  
RET_INFO_UNDEFINED,                                                             
RET_EWI_UNDEFINED,                                                              
RET_AVAILABLE_WITH_LINUX_ONLY,                                  
RET_UNKNOWN_BUG,                                                                
RET_PRINTLEVEL_CHANGED,                                                 
RET_NOT_YET_IMPLEMENTED,                                                
/* Indexlist */
RET_INDEXLIST_MUST_BE_REORDERD,                                 
RET_INDEXLIST_EXCEEDS_MAX_LENGTH,                               
RET_INDEXLIST_CORRUPTED,                                                
RET_INDEXLIST_OUTOFBOUNDS,                                              
RET_INDEXLIST_ADD_FAILED,                                               
RET_INDEXLIST_INTERSECT_FAILED,                                 
/* SubjectTo / Bounds / Constraints */
RET_INDEX_ALREADY_OF_DESIRED_STATUS,                    
RET_ADDINDEX_FAILED,                                                    
RET_REMOVEINDEX_FAILED,                                                 
RET_SWAPINDEX_FAILED,                                                   
RET_NOTHING_TO_DO,                                                              
RET_SETUP_BOUND_FAILED,                                                 
RET_SETUP_CONSTRAINT_FAILED,                                    
RET_MOVING_BOUND_FAILED,                                                
RET_MOVING_CONSTRAINT_FAILED,                                   
RET_SHIFTING_FAILED,                                                    
RET_ROTATING_FAILED,                                                    
/* QProblem */
RET_QPOBJECT_NOT_SETUP,                                                 
RET_QP_ALREADY_INITIALISED,                                             
RET_NO_INIT_WITH_STANDARD_SOLVER,                               
RET_RESET_FAILED,                                                               
RET_INIT_FAILED,                                                                
RET_INIT_FAILED_TQ,                                                             
RET_INIT_FAILED_CHOLESKY,                                               
RET_INIT_FAILED_HOTSTART,                                               
RET_INIT_FAILED_INFEASIBILITY,                                  
RET_INIT_FAILED_UNBOUNDEDNESS,                                  
RET_INIT_FAILED_REGULARISATION,                                 
RET_INIT_SUCCESSFUL,                                                    
RET_OBTAINING_WORKINGSET_FAILED,                                
RET_SETUP_WORKINGSET_FAILED,                                    
RET_SETUP_AUXILIARYQP_FAILED,                                   
RET_NO_CHOLESKY_WITH_INITIAL_GUESS,                             
RET_NO_EXTERN_SOLVER,                                                   
RET_QP_UNBOUNDED,                                                               
RET_QP_INFEASIBLE,                                                              
RET_QP_NOT_SOLVED,                                                              
RET_QP_SOLVED,                                                                  
RET_UNABLE_TO_SOLVE_QP,                                                 
RET_INITIALISATION_STARTED,                                             
RET_HOTSTART_FAILED,                                                    
RET_HOTSTART_FAILED_TO_INIT,                                    
RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED,              
RET_ITERATION_STARTED,                                                  
RET_SHIFT_DETERMINATION_FAILED,                                 
RET_STEPDIRECTION_DETERMINATION_FAILED,                 
RET_STEPLENGTH_DETERMINATION_FAILED,                    
RET_OPTIMAL_SOLUTION_FOUND,                                             
RET_HOMOTOPY_STEP_FAILED,                                               
RET_HOTSTART_STOPPED_INFEASIBILITY,                             
RET_HOTSTART_STOPPED_UNBOUNDEDNESS,                             
RET_WORKINGSET_UPDATE_FAILED,                                   
RET_MAX_NWSR_REACHED,                                                   
RET_CONSTRAINTS_NOT_SPECIFIED,                                  
RET_INVALID_FACTORISATION_FLAG,                                 
RET_UNABLE_TO_SAVE_QPDATA,                                              
RET_STEPDIRECTION_FAILED_TQ,                                    
RET_STEPDIRECTION_FAILED_CHOLESKY,                              
RET_CYCLING_DETECTED,                                                   
RET_CYCLING_NOT_RESOLVED,                                               
RET_CYCLING_RESOLVED,                                                   
RET_STEPSIZE,                                                                   
RET_STEPSIZE_NONPOSITIVE,                                               
RET_SETUPSUBJECTTOTYPE_FAILED,                                  
RET_ADDCONSTRAINT_FAILED,                                               
RET_ADDCONSTRAINT_FAILED_INFEASIBILITY,                 
RET_ADDBOUND_FAILED,                                                    
RET_ADDBOUND_FAILED_INFEASIBILITY,                              
RET_REMOVECONSTRAINT_FAILED,                                    
RET_REMOVEBOUND_FAILED,                                                 
RET_REMOVE_FROM_ACTIVESET,                                              
RET_ADD_TO_ACTIVESET,                                                   
RET_REMOVE_FROM_ACTIVESET_FAILED,                               
RET_ADD_TO_ACTIVESET_FAILED,                                    
RET_CONSTRAINT_ALREADY_ACTIVE,                                  
RET_ALL_CONSTRAINTS_ACTIVE,                                             
RET_LINEARLY_DEPENDENT,                                                 
RET_LINEARLY_INDEPENDENT,                                               
RET_LI_RESOLVED,                                                                
RET_ENSURELI_FAILED,                                                    
RET_ENSURELI_FAILED_TQ,                                                 
RET_ENSURELI_FAILED_NOINDEX,                                    
RET_ENSURELI_FAILED_CYCLING,                                    
RET_BOUND_ALREADY_ACTIVE,                                               
RET_ALL_BOUNDS_ACTIVE,                                                  
RET_CONSTRAINT_NOT_ACTIVE,                                              
RET_BOUND_NOT_ACTIVE,                                                   
RET_HESSIAN_NOT_SPD,                                                    
RET_HESSIAN_INDEFINITE,                                                 
RET_MATRIX_SHIFT_FAILED,                                                
RET_MATRIX_FACTORISATION_FAILED,                                
RET_PRINT_ITERATION_FAILED,                                             
RET_NO_GLOBAL_MESSAGE_OUTPUTFILE,                               
RET_DISABLECONSTRAINTS_FAILED,                                  
RET_ENABLECONSTRAINTS_FAILED,                                   
RET_ALREADY_ENABLED,                                                    
RET_ALREADY_DISABLED,                                                   
RET_NO_HESSIAN_SPECIFIED,                                               
RET_USING_REGULARISATION,                                               
RET_EPS_MUST_BE_POSITVE,                                                
RET_REGSTEPS_MUST_BE_POSITVE,                                   
RET_HESSIAN_ALREADY_REGULARISED,                                
RET_CANNOT_REGULARISE_IDENTITY,                                 
RET_CANNOT_REGULARISE_SPARSE,                                   
RET_NO_REGSTEP_NWSR,                                                    
RET_FEWER_REGSTEPS_NWSR,                                                
RET_CHOLESKY_OF_ZERO_HESSIAN,                                   
RET_ZERO_HESSIAN_ASSUMED,                                               
RET_CONSTRAINTS_ARE_NOT_SCALED,                                 
RET_INITIAL_BOUNDS_STATUS_NYI,                                  
RET_ERROR_IN_CONSTRAINTPRODUCT,                                 
RET_FIX_BOUNDS_FOR_LP,                                                  
RET_USE_REGULARISATION_FOR_LP,                                  
/* SQProblem */
RET_UPDATEMATRICES_FAILED,                                              
RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED,             
/* Utils */
RET_UNABLE_TO_OPEN_FILE,                                                
RET_UNABLE_TO_WRITE_FILE,                                               
RET_UNABLE_TO_READ_FILE,                                                
RET_FILEDATA_INCONSISTENT,                                              
/* Options */
RET_OPTIONS_ADJUSTED,                                                   
/* SolutionAnalysis */
RET_UNABLE_TO_ANALYSE_QPROBLEM,                                 
/* Benchmark */
RET_NWSR_SET_TO_ONE,                                                    
RET_UNABLE_TO_READ_BENCHMARK,                                   
RET_BENCHMARK_ABORTED,                                                  
RET_INITIAL_QP_SOLVED,                                                  
RET_QP_SOLUTION_STARTED,                                                
RET_BENCHMARK_SUCCESSFUL,                                               
/* Sparse matrices */
RET_NO_DIAGONAL_AVAILABLE,                                              
RET_DIAGONAL_NOT_INITIALISED,                                   
/* Dropping of infeasible constraints */
RET_ENSURELI_DROPPED,                                                   
/* Schur complement computations */
RET_KKT_MATRIX_SINGULAR,                                                
RET_QR_FACTORISATION_FAILED,                                    
RET_INERTIA_CORRECTION_FAILED,                                  
RET_NO_SPARSE_SOLVER,                                                   
/* Simple exitflags */
RET_SIMPLE_STATUS_P1,                                                   
RET_SIMPLE_STATUS_P0,                                                   
RET_SIMPLE_STATUS_M1,                                                   
RET_SIMPLE_STATUS_M2,                                                   
RET_SIMPLE_STATUS_M3                                                    
};


class MessageHandling
{
        /*
         *      INTERNAL DATA STRUCTURES
         */
        public:
                typedef struct {
                        returnValue key;                                                        
                        const char* data;                                                       
                        VisibilityStatus globalVisibilityStatus;        
                } ReturnValueList;


        /*
         *      PUBLIC MEMBER FUNCTIONS
         */
        public:
                MessageHandling( );

                MessageHandling(  FILE* _outputFile                                             
                                                  );

                MessageHandling(        VisibilityStatus _errorVisibility,      
                                                        VisibilityStatus _warningVisibility,
                                                        VisibilityStatus _infoVisibility        
                                                        );

                MessageHandling(        FILE* _outputFile,                                      
                                                        VisibilityStatus _errorVisibility,      
                                                        VisibilityStatus _warningVisibility,
                                                        VisibilityStatus _infoVisibility        
                                                        );

                MessageHandling(        const MessageHandling& rhs      
                                                        );

                ~MessageHandling( );

                MessageHandling& operator=(     const MessageHandling& rhs      
                                                                        );


                returnValue throwError( returnValue Enumber,                                    
                                                                const char* additionaltext,                             
                                                                const char* functionname,                               
                                                                const char* filename,                                   
                                                                const unsigned long linenumber,                 
                                                                VisibilityStatus localVisibilityStatus  
                                                                );

                returnValue throwWarning(       returnValue Wnumber,                                    
                                                                        const char* additionaltext,                             
                                                                        const char* functionname,                               
                                                                        const char* filename,                                   
                                                                        const unsigned long linenumber,                 
                                                                        VisibilityStatus localVisibilityStatus  
                                                                        );

                returnValue throwInfo(  returnValue Inumber,                                    
                                                                const char* additionaltext,                             
                                                                const char* functionname,                               
                                                                const char* filename,                                   
                                                                const unsigned long linenumber,                 
                                                                VisibilityStatus localVisibilityStatus  
                                                                );


                returnValue reset( );


                returnValue listAllMessages( );


                inline VisibilityStatus getErrorVisibilityStatus( ) const;

                inline VisibilityStatus getWarningVisibilityStatus( ) const;

                inline VisibilityStatus getInfoVisibilityStatus( ) const;

                inline FILE* getOutputFile( ) const;

                inline int_t getErrorCount( ) const;


                inline void setErrorVisibilityStatus(   VisibilityStatus _errorVisibility       
                                                                                                );

                inline void setWarningVisibilityStatus( VisibilityStatus _warningVisibility     
                                                                                                );

                inline void setInfoVisibilityStatus(    VisibilityStatus _infoVisibility        
                                                                                                );

                inline void setOutputFile(      FILE* _outputFile       
                                                                        );

                inline returnValue setErrorCount(       int_t _errorCount       
                                                                                        );

                static const char* getErrorCodeMessage( const returnValue _returnValue
                                                                                                );


        /*
         *      PROTECTED MEMBER FUNCTIONS
         */
        protected:
                returnValue throwMessage(
                        returnValue RETnumber,                                  
                        const char* additionaltext,                             
                        const char* functionname,                               
                        const char* filename,                                   
                        const unsigned long linenumber,                 
                        VisibilityStatus localVisibilityStatus, 
                        const char* RETstring                                   
                        );


        /*
         *      PROTECTED MEMBER VARIABLES
         */
        protected:
                VisibilityStatus errorVisibility;               
                VisibilityStatus warningVisibility;             
                VisibilityStatus infoVisibility;                
                FILE* outputFile;                                               
                int_t errorCount;                                               
};


#ifndef __FILE__

  #define __FILE__ 0
#endif

#ifndef __LINE__

  #define __LINE__ 0
#endif

/*#define __FUNC__ 0*/
#define __FUNC__ ("(no function name provided)")
/*#define __FUNC__ __func__*/
/*#define __FUNC__ __FUNCTION__*/


#define THROWERROR(retval) ( getGlobalMessageHandler( )->throwError((retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )

#define THROWWARNING(retval) ( getGlobalMessageHandler( )->throwWarning((retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )

#define THROWINFO(retval) ( getGlobalMessageHandler( )->throwInfo((retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )


MessageHandling* getGlobalMessageHandler( );


END_NAMESPACE_QPOASES

#include <qpOASES/MessageHandling.ipp>

#endif /* QPOASES_MESSAGEHANDLING_HPP */


/*
 *      end of file
 */